rename sender and receiver to publisher and subscriber

CMakeLists.txt

@@ -138,27 +138,27 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_sender src/nng_sender.cpp ${PROTO_SRCS} ${PROTO_HDRS})
-add_executable(${PROJECT_NAME}_receiver src/nng_receiver.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_publisher src/nng_publisher.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_subscriber src/nng_subscriber.cpp ${PROTO_SRCS} ${PROTO_HDRS})
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
 ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_sender PROPERTIES OUTPUT_NAME sender PREFIX "")
-set_target_properties(${PROJECT_NAME}_receiver PROPERTIES OUTPUT_NAME receiver PREFIX "")
+set_target_properties(${PROJECT_NAME}_publisher PROPERTIES OUTPUT_NAME publisher PREFIX "")
+set_target_properties(${PROJECT_NAME}_subscriber PROPERTIES OUTPUT_NAME subscriber PREFIX "")
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_sender
+target_link_libraries(${PROJECT_NAME}_publisher
   ${catkin_LIBRARIES}
   nng
   ${Protobuf_LIBRARIES}
 )
-target_link_libraries(${PROJECT_NAME}_receiver
+target_link_libraries(${PROJECT_NAME}_subscriber
   ${catkin_LIBRARIES}
   nng
   ${Protobuf_LIBRARIES}

package.xml

@@ -2,7 +2,7 @@
 <package format="2">
   <name>nng_test</name>
   <version>0.1.0</version>
-  <description>a sender and receiver node using nng</description>
+  <description>a publisher and subscriber node using nng</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <maintainer email="johannes.mey@tu-dresden.de">Johannes Mey</maintainer>

src/nng_sender.cpp → src/nng_publisher.cpp

@@ -16,7 +16,7 @@ nng_socket sock;
 int rv;
 
 void nngCallback(const std_msgs::String::ConstPtr &msg) {
-  ROS_INFO("sending via NNG: [%s]", msg->data.c_str());
+  ROS_INFO("publishing via NNG: [%s]", msg->data.c_str());
 
   // wrap into protobuf message
   Ping ping;
@@ -34,7 +34,7 @@ int main(int argc, char **argv) {
 
   GOOGLE_PROTOBUF_VERIFY_VERSION;
 
-  ros::init(argc, argv, "nng_sender");
+  ros::init(argc, argv, "nng_publisher");
 
   ros::NodeHandle n("nnc_test");
 
@@ -45,7 +45,7 @@ int main(int argc, char **argv) {
     ROS_ERROR_STREAM("nng_listen returned: " << nng_strerror(rv));
   }
 
-  ros::Subscriber sub = n.subscribe("send_nng", 1000, nngCallback);
+  ros::Subscriber sub = n.subscribe("publish_to_nng", 1000, nngCallback);
 
   ros::spin();
 

src/nng_receiver.cpp → src/nng_subscriber.cpp

@@ -15,11 +15,11 @@
 const std::string URL = "tcp://localhost:6576";
 
 int main(int argc, char **argv) {
-  ros::init(argc, argv, "nng_receiver");
+  ros::init(argc, argv, "nng_subscriber");
 
   ros::NodeHandle n("nnc_test");
 
-  ros::Publisher nng_receiver_pub = n.advertise<std_msgs::String>("received_nng", 1000);
+  ros::Publisher nng_subscriber_pub = n.advertise<std_msgs::String>("received_nng_subscription", 1000);
 
   ros::Rate loop_rate(200);
 
@@ -49,13 +49,11 @@ int main(int argc, char **argv) {
       ping.ParseFromArray(buf, sz);
       nng_free(buf, sz);
 
-      ROS_INFO_STREAM("CLIENT: RECEIVED '" << ping.name() << "'");
-
       // build and publish a ROS message
       std_msgs::String msg;
       msg.data = ping.name();
-      ROS_INFO_STREAM("Publishing ROS message '" << msg.data << "'");
-      nng_receiver_pub.publish(msg);
+      ROS_INFO_STREAM("Received Ping. Publishing ROS message '" << msg.data << "'");
+      nng_subscriber_pub.publish(msg);
     } else if (rv == NNG_EAGAIN) {
       // no message received in current spin
     } else {